Novel walking assist device based on mobile manipulator and inertial measurement unit

Chuan Yang; Toshiyuki Murakami

doi:10.1541/ieejjia.3.381

Novel walking assist device based on mobile manipulator and inertial measurement unit

Chuan Yang, Toshiyuki Murakami

Department of System Design Engineering

Research output: Contribution to journal › Article › peer-review

10 Citations (Scopus)

Abstract

This paper presents a method for walking assist control that uses an inertial measurement unit (IMU) sensor fixed to an elderly person's foot to estimate his or her walking motion. In the proposed approach, a mobile device is synchronously driven by the user's walking motion. Furthermore, a manipulator mounted on the mobile device can support and help the user walk. These functions make it possible for the device to move beside the user and coordinate with his or her steps. The validity of the proposed approach was confirmed through several experiments.

Original language	English
Pages (from-to)	381-387
Number of pages	7
Journal	IEEJ Journal of Industry Applications
Volume	3
Issue number	5
DOIs	https://doi.org/10.1541/ieejjia.3.381
Publication status	Published - 2014

Keywords

IMU sensor
Mobile device power assisted control
Walking motion estimation

ASJC Scopus subject areas

Automotive Engineering
Energy Engineering and Power Technology
Mechanical Engineering
Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

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10.1541/ieejjia.3.381

Cite this

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AB - This paper presents a method for walking assist control that uses an inertial measurement unit (IMU) sensor fixed to an elderly person's foot to estimate his or her walking motion. In the proposed approach, a mobile device is synchronously driven by the user's walking motion. Furthermore, a manipulator mounted on the mobile device can support and help the user walk. These functions make it possible for the device to move beside the user and coordinate with his or her steps. The validity of the proposed approach was confirmed through several experiments.

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Novel walking assist device based on mobile manipulator and inertial measurement unit

Abstract

Keywords

ASJC Scopus subject areas

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